PulseOutput_Center_FB

Circular interpolation (center position)

Pulses are output from two channels in accordance with the parameters in the function block and in the specified DUT, so that the path to the target position forms an arc. The radius of the circle is calculated by specifying the center position and the end position. Pulses are output from the specified channel when the control flag for this channel is FALSE and the execution condition is TRUE.

Parameters

Input

bExecute (BOOL)

Activates the function block (with permanent trigger)

bAbsolute (BOOL)

Absolute value control = TRUE, Relative value control = FALSE

bReverse (BOOL)

TRUE=Rotation direction: reverse

From channel 0 (x-axis) to channel 2 (y-axis) (for a movement in positive direction on both channels)
FALSE=Rotation direction: forward

From channel 2 (y-axis) to channel 0 (x-axis) (for a movement in positive direction on both channels)

diTargetSpeed (DINT)

Target speed: Composite speed of both axes = 100–20000 (100Hz–20kHz)

diTargetValue_X (DINT)

X-axis target value [pulses]: -8388608–8388607

diTargetValue_Y (DINT)

Y-axis target value [pulses]: -8388608–8388607

diCenterValue_X (DINT)

X-axis center value [pulses]: -8388608–8388607

diCenterValue_Y (DINT)

Y-axis center value [pulses]: -8388608–8388607

dutChannelConfiguration_X_Y

Predefined system DUT for channel configuration: PulseOutput_Channel_Configuration_DUT

Channel: 0, 2

Output

bError (BOOL): TRUE if an applied input value is invalid. Execution of the function block stops.
diRadius (DINT): Radius [pulses]

Remarks

This non-inline instruction is part of the tool instructions for pulse output. For a detailed description of the instruction(s) used internally, please refer to: F176_PulseOutput_Center

Use PulseInfo_IsActive to check if the control flag for the selected channel is FALSE.

Example

DUT

With a Data Unit Type (DUT) you can define a data unit type that is composed of other data types. A DUT is first defined in the DUT pool and then processed like the standard data types (BOOL, INT, etc.) in the list of global variables or the POU header.

POU header

All input and output variables used for programming this function have been declared in the POU header. The same POU header is used for all programming languages.

	VAR
		PulseOutput_Center: PulseOutput_Center_FB;
		bExecute: BOOL:=FALSE;
		bAbsolute: BOOL:=FALSE;
		bContinueAfterDone: BOOL:=FALSE;
		bCounterclockwise: BOOL:=FALSE;
		ChannelConfiguration_X_DUT: PulseOutput_Channel_Configuration_DUT;
		bError: BOOL:=FALSE;
		diRadius: DINT:=0;
		bConfigure: BOOL:=FALSE;
	END_VAR

LD body

BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 25 ;
        NETWORK_BODY
B(B_CONTACT,,bConfigure,7,1,9,3,);
B(B_F,E_MOVE!,,19,0,25,4,,?DEN?D?AENO?C);
B(B_VARIN,,1,17,2,19,4,);
B(B_F,E_MOVE!,,19,8,25,12,,?DEN?D?AENO?C);
B(B_VARIN,,FALSE,17,10,19,12,);
B(B_VAROUT,,ChannelConfiguration_X_DUT.bOutput_Pulse_SignReverse,25,10,27,12,);
B(B_F,E_MOVE!,,19,12,25,16,,?DEN?D?AENO?C);
B(B_F,E_MOVE!,,19,4,25,8,,?DEN?D?AENO?C);
B(B_VARIN,,TRUE,17,6,19,8,);
B(B_VAROUT,,ChannelConfiguration_X_DUT.bOutput_Pulse_SignForward,25,6,27,8,);
B(B_VARIN,,TRUE,17,14,19,16,);
B(B_VAROUT,,ChannelConfiguration_X_DUT.iChannel,25,2,27,4,);
B(B_F,E_MOVE!,,19,16,25,20,,?DEN?D?AENO?C);
B(B_VARIN,,FALSE,17,18,19,20,);
B(B_VAROUT,,ChannelConfiguration_X_DUT.bDutyRatio25,25,18,27,20,);
B(B_F,E_MOVE!,,19,20,25,24,,?DEN?D?AENO?C);
B(B_VAROUT,,ChannelConfiguration_X_DUT.bAccelerationSteps60,25,14,27,16,);
B(B_VAROUT,,ChannelConfiguration_X_DUT.bFrequencyRange_191Hz_100kHz,25,22,27,24,);
B(B_VARIN,,TRUE,17,22,19,24,);
L(1,2,7,2);
L(10,2,10,6);
L(10,6,19,6);
L(9,2,10,2);
L(10,2,19,2);
L(10,10,19,10);
L(10,10,10,14);
L(10,6,10,10);
L(10,14,19,14);
L(10,14,10,18);
L(10,18,19,18);
L(10,18,10,22);
L(10,22,19,22);
L(1,0,1,25);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 13 ;
        NETWORK_BODY
B(B_FB,PulseOutput_Center_FB!,PulseOutput_Center,14,1,28,13,,?BbExecute?BbAbsolute?BbContinueAfterDone?BbCounterclockwise?BdiTargetSpeed?BdiTargetValue_X?BdiTargetValue_Y?BdiCenterValue_X?BdiCenterValue_Y?BdutChannelConfiguration_X?AbError?AdiRadius);
B(B_VARIN,,bExecute,12,2,14,4,);
B(B_VARIN,,bAbsolute,12,3,14,5,);
B(B_VARIN,,bContinueAfterDone,12,4,14,6,);
B(B_VARIN,,bCounterclockwise,12,5,14,7,);
B(B_VARIN,,15000,12,6,14,8,);
B(B_VARIN,,7000,12,7,14,9,);
B(B_VARIN,,12000,12,8,14,10,);
B(B_VARIN,,500,12,9,14,11,);
B(B_VARIN,,900,12,10,14,12,);
B(B_VARIN,,ChannelConfiguration_X_DUT,12,11,14,13,);
B(B_VAROUT,,bError,28,2,30,4,);
B(B_VAROUT,,diRadius,28,3,30,5,);
L(1,0,1,13);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY

ST body

(* Used DUT parameters *)
ChannelConfiguration_XY_DUT.iChannel := 1;
ChannelConfiguration_XY_DUT.bOutput_Pulse_ForwardTrue := TRUE;
ChannelConfiguration_XY_DUT.bOutput_Pulse_ForwardFalse := FALSE;
ChannelConfiguration_XY_DUT.bAccelerationSteps60 := FALSE;
ChannelConfiguration_XY_DUT.bDutyRatio25 := TRUE;
ChannelConfiguration_XY_DUT.bFrequencyRange_191Hz_100kHz := TRUE;
ChannelConfiguration_XY_DUT.bExecuteInInterruptProgram := FALSE;
(* FB *)
PulseOutput_Center(bExecute := bExecute,
           bAbsolute := bAbsolute,
           bContinueAfterDone := bContinueAfterDone,
           bCounterclockwise := bCounterclockwise,
           diTargetSpeed := 15000,
           diTargetValue_X := 7000,
           diTargetValue_Y := 12000,
           diCenterValue_X := 500,
           diCenterValue_Y := 900,
           dutChannelConfiguration_X_Y := ChannelConfiguration_XY_DUT,
           bError => bError,
           diRadius => diRadius);